1. School of Mechanical Engineering, College of Engineering, University of Tehran, Tehran, Iran
2. School of Mechanical Engineering, College of Engineering, University of Tehran, Tehran, Iran; The Robotic Surgery Lab., Mechanical Engineering Department, Concordia University, Montreal, QC, Canada
3. Tehran University of Medical Sciences, Tehran, Iran
4. ICube Laboratory, CNRS and University of Strasbourg, Strasbourg, France; School of Mechanical Engineering, College of Engineering, University of Tehran, Tehran, Iran
5. School of Mechanical Engineering, College of Engineering, University of Tehran, Tehran, Iran; ICube Laboratory, CNRS and University of Strasbourg, Strasbourg, France